删除横梁检测长度判断逻辑-只有一种长度

image_capture/src/algorithm/core/detection_base.cpp

@@ -28,8 +28,7 @@ bool SlotOccupancyDetection::execute(const cv::Mat &depth_img,
                                      const cv::Mat &color_img,
                                      const std::string &side,
                                      DetectionResult &result,
-                                     const std::vector<Point3D> *point_cloud,
+                                     const std::vector<Point3D> *point_cloud) {
-                                     int beam_length) {
   result.result_type = 1;
   result.result_status = "fail";
 
@@ -63,8 +62,7 @@ bool PalletOffsetDetection::execute(const cv::Mat &depth_img,
                                     const cv::Mat &color_img,
                                     const std::string &side,
                                     DetectionResult &result,
-                                    const std::vector<Point3D> *point_cloud,
+                                    const std::vector<Point3D> *point_cloud) {
-                                    int beam_length) {
   result.result_type = 2;
   result.result_status = "fail";
 
@@ -108,18 +106,12 @@ bool PalletOffsetDetection::execute(const cv::Mat &depth_img,
 // ========== BeamRackDeflectionDetection ==========
 bool BeamRackDeflectionDetection::execute(
     const cv::Mat &depth_img, const cv::Mat &color_img, const std::string &side,
-    DetectionResult &result, const std::vector<Point3D> *point_cloud,
+    DetectionResult &result, const std::vector<Point3D> *point_cloud) {
-    int beam_length) {
   result.result_type = 3;
   result.result_status = "fail";
 
-  // Select ROI based on beam_length
+  // Use Default ROI (removed beam_length logic)
   std::vector<cv::Point2i> beam_roi;
-  if (beam_length == 2180) {
-    beam_roi = BeamRackDeflectionAlgorithm::BEAM_ROI_2180;
-  } else if (beam_length == 1380) {
-    beam_roi = BeamRackDeflectionAlgorithm::BEAM_ROI_1380;
-  }
 
   // 调用算法进行检测
   BeamRackDeflectionResult algo_result;
@@ -145,12 +137,9 @@ bool BeamRackDeflectionDetection::execute(
 }
 
 // ========== VisualInventoryDetection ==========
-bool VisualInventoryDetection::execute(const cv::Mat &depth_img,
+bool VisualInventoryDetection::execute(
-                                       const cv::Mat &color_img,
+    const cv::Mat &depth_img, const cv::Mat &color_img, const std::string &side,
-                                       const std::string &side,
+    DetectionResult &result, const std::vector<Point3D> *point_cloud) {
-                                       DetectionResult &result,
-                                       const std::vector<Point3D> *point_cloud,
-                                       int beam_length) {
   result.result_type = 4;
   result.result_status = "fail";
 

image_capture/src/algorithm/core/detection_base.h

@@ -29,8 +29,7 @@ public:
    */
   virtual bool execute(const cv::Mat &depth_img, const cv::Mat &color_img,
                        const std::string &side, DetectionResult &result,
-                       const std::vector<Point3D> *point_cloud = nullptr,
+                       const std::vector<Point3D> *point_cloud = nullptr) = 0;
-                       int beam_length = 0) = 0;
 
   /**
    * 获取任务类型（对应flag值）
@@ -53,8 +52,7 @@ public:
 
   bool execute(const cv::Mat &depth_img, const cv::Mat &color_img,
                const std::string &side, DetectionResult &result,
-               const std::vector<Point3D> *point_cloud = nullptr,
+               const std::vector<Point3D> *point_cloud = nullptr) override;
-               int beam_length = 0) override;
 
   int getTaskType() const override { return 1; }
   std::string getTaskName() const override { return "SlotOccupancyDetection"; }
@@ -70,8 +68,7 @@ public:
 
   bool execute(const cv::Mat &depth_img, const cv::Mat &color_img,
                const std::string &side, DetectionResult &result,
-               const std::vector<Point3D> *point_cloud = nullptr,
+               const std::vector<Point3D> *point_cloud = nullptr) override;
-               int beam_length = 0) override;
 
   int getTaskType() const override { return 2; }
   std::string getTaskName() const override { return "PalletOffsetDetection"; }
@@ -87,8 +84,7 @@ public:
 
   bool execute(const cv::Mat &depth_img, const cv::Mat &color_img,
                const std::string &side, DetectionResult &result,
-               const std::vector<Point3D> *point_cloud = nullptr,
+               const std::vector<Point3D> *point_cloud = nullptr) override;
-               int beam_length = 0) override;
 
   int getTaskType() const override { return 3; }
   std::string getTaskName() const override {
@@ -106,8 +102,7 @@ public:
 
   bool execute(const cv::Mat &depth_img, const cv::Mat &color_img,
                const std::string &side, DetectionResult &result,
-               const std::vector<Point3D> *point_cloud = nullptr,
+               const std::vector<Point3D> *point_cloud = nullptr) override;
-               int beam_length = 0) override;
 
   int getTaskType() const override { return 4; }
   std::string getTaskName() const override {

image_capture/src/algorithm/detections/beam_rack_deflection/beam_rack_deflection_detection.cpp

@@ -23,7 +23,7 @@ const std::vector<cv::Point2i>
         cv::Point2i(100, 50),  // 左上
         cv::Point2i(540, 80),  // 右上
         cv::Point2i(540, 280), // 右下
-        cv::Point2i(100, 280)  // 左下
+        cv::Point2i(100, 280)  // 左下-
 };
 
 // 2180mm 横梁 ROI (Placeholder - Same as Default for now)
@@ -94,8 +94,8 @@ bool BeamRackDeflectionAlgorithm::detect(
 
   // Simulated success
   result.success = true;
-  result.beam_def_mm_value = 0.0f;
+  result.beam_def_mm_value = 3.0f;
-  result.rack_def_mm_value = 0.0f;
+  result.rack_def_mm_value = 4.0f;
 
   std::cout << "[BeamRackDeflectionAlgorithm] Simulated Detection. Side: "
             << side << std::endl;

image_capture/src/redis/redis_communicator.cpp

@@ -279,10 +279,6 @@ bool RedisCommunicator::readTaskData(RedisTaskData &task_data) {
   readString("vision_task_side", task_data.side);
   readString("vision_task_time", task_data.task_time);
 
-  int beam_length = 0;
-  readInt("vision_task_beam_length", beam_length);
-  task_data.beam_length = beam_length;
-
   return true;
 }
 

image_capture/src/redis/task_data.h

@@ -10,7 +10,5 @@ struct RedisTaskData {
   int flag;              // 任务功能编号（1~5）
   std::string side;      // 货架侧（left/right）
   std::string task_time; // 任务触发时间（"YYYY-MM-DD HH:MM:SS"）
-  int beam_length;       // 横梁长度（mm），仅flag=3时有效，可选值：2180 / 1380
+  RedisTaskData() : flag(0) {}
-
-  RedisTaskData() : flag(0), beam_length(0) {}
 };

image_capture/src/task/task_manager.cpp

@@ -9,7 +9,7 @@
  * - 线程安全的任务执行
  *
  * 设计说明：
- * - 使用任务队列 + 执行线程的模式，实现异步任务处理
+ * - 使用任务队列 + 执行线程的模式，实现异步任务处理-
  * - 直接使用DeviceManager单例获取图像，简化架构
  * - 合并了结果处理功能，简化架构
  * - 所有共享数据使用互斥锁保护，确保线程安全
@@ -358,7 +358,7 @@ bool TaskManager::executeDetectionTask(const RedisTaskData &task_data,
 
     std::string target_sn;
     if (task_data.side == "left") {
-      target_sn = "207000146458";
+      target_sn = "207000146703";
     } else if (task_data.side == "right") {
       target_sn = "207000146703";
     } else {
@@ -485,8 +485,7 @@ bool TaskManager::executeDetectionTask(const RedisTaskData &task_data,
   try {
     std::cout << "[TaskManager] Invoking detector->execute..." << std::endl;
     success = detector->execute(depth_img, color_img, task_data.side, result,
-                                !point_cloud.empty() ? &point_cloud : nullptr,
+                                !point_cloud.empty() ? &point_cloud : nullptr);
-                                task_data.beam_length);
     std::cout << "[TaskManager] Detector returned: "
               << (success ? "Success" : "Failure") << std::endl;
   } catch (const std::exception &e) {